CN104040369A - Method and device for measuring the speed of a vehicle independently of the wheels - Google Patents
Method and device for measuring the speed of a vehicle independently of the wheels Download PDFInfo
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- CN104040369A CN104040369A CN201280066368.7A CN201280066368A CN104040369A CN 104040369 A CN104040369 A CN 104040369A CN 201280066368 A CN201280066368 A CN 201280066368A CN 104040369 A CN104040369 A CN 104040369A
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- vehicle
- relative velocity
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- velocity
- described vehicle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L99/00—Subject matter not provided for in other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or vehicle train for signalling purposes ; On-board control or communication systems
- B61L15/0063—Multiple on-board control systems, e.g. "2 out of 3"-systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/021—Measuring and recording of train speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/026—Relative localisation, e.g. using odometer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S15/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4056—Means for monitoring or calibrating by simulation of echoes specially adapted to FMCW
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L2205/00—Communication or navigation systems for railway traffic
- B61L2205/04—Satellite based navigation systems, e.g. GPS
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
Abstract
The invention relates to a method for determining the speed (101) of a vehicle (100). At least one object (310, 320, 330, 340, 350, 360) located in the surroundings of the vehicle (100) is detected, and a speed of the detected object (310, 320, 330, 340, 350) relative to the vehicle (100) is measured. Furthermore, the speed (101) of the vehicle (100) is determined using the relative speed (311, 321, 331, 341, 351, 362) of the object (310, 320, 330, 340, 350, 360).
Description
Technical field
The present invention relates to a kind of for determine vehicle, the method for the speed of rail vehicle especially.The invention still further relates to a kind of equipment of the corresponding speed for definite vehicle.
Background technology
In order to measure the speed of rail vehicle, wherein, use the sensor of asking for wheel revolutions.But, under some service condition---for example, in upward slope, accelerator or braking procedure or in the time of some weather conditions, described measuring method is unreliable for determining that the travel speed of rail vehicle or absolute velocity turn out to be.Therefore, in modern rail vehicle, also use with lower sensor: described sensor utilizes the reflection on the ground of optical radiation or acoustic signal to determine the absolute velocity of vehicle.Due to external action---as the reflectivity of the reduction being caused by weather on the pollution of sensor or ground, in described method, reliability also may suffer surging.
Summary of the invention
Therefore, task of the present invention is to propose substitute or the supplementary measuring method of the absolute velocity for determining rail vehicle.Described task solves by method according to claim 1.Described task also solves by equipment according to claim 12.Other favourable embodiments of the present invention are described in the dependent claims.
Propose the method for the absolute velocity for determining rail vehicle according to the present invention, wherein, detect the object and the relative velocity of the object detecting with respect to rail vehicle of at least one surrounding environment that is arranged in rail vehicle.At this, determine the absolute velocity of rail vehicle according to the relative velocity of object.The velocity survey that the utilization permission of the relative velocity of the object in the surrounding environment of vehicle and ground characteristics and climate condition are irrelevant.
At this, the object that assessment detects in one embodiment relates to static object and also relates to the object moving.At this, only when object correlation is assessed as when static, just the determining for the absolute velocity of vehicle by the relative velocity of detected object.By being limited to stationary object, can the definite degree of accuracy of raising speed.
Arrange in another embodiment, the relative velocity of detected object and reference velocity are compared.Only when relevant relative velocity is during substantially corresponding to reference velocity, the just assessment for the absolute velocity of vehicle by described relevant relative velocity.By with the comparison of reference velocity, the measured relative velocity of analyzing and processing different objects very simply.Therefore, simplified the identification of static or applicable object.
Another kind of embodiment setting, determines the absolute velocity of vehicle and repeatedly respectively using the value of finally asking for of the absolute velocity of vehicle as with reference to speed.Therefore, be especially only slightly different under the situation of the absolute velocity of finally asking for the degree of accuracy can improve identification object that be applicable to or static time in the current absolute velocity of vehicle.
Arrange in another embodiment, measure the relative velocity of the multiple objects that detect and the measured value of asking for according to the relative velocity of the object by detected and ask for reference velocity in the surrounding environment of vehicle.Can relatively simply reduce the deviation of the relative velocity of each object by averaging.At this, mean value especially provides enough accurate reference values of the object detecting for assessment in following situation: in described situation, the object of a large amount of unaccommodated or motions is to a large amount of be applicable to or static objects.
Another kind of embodiment setting, measures the relative velocity of the multiple objects that detect in the surrounding environment of vehicle, wherein, for each in detected object ask for separately whether relate to the probability of static object at this.In addition, in the time determining the absolute velocity of vehicle, only consider to have the object of maximum probability.Probability separately allows the classification of simple object of classifying or detect to the distribution of each object.In addition, simplify the selection of applicable object, its mode is only to consider that those have the object of maximum probability in a large amount of potential applicable objects.
In another embodiment, the consistance between relative velocity and the reference velocity of asking for for described object is larger, distributes the higher probability that relates to static object to described object.Substantially, can, according to different standards, also give each object of identifying according to the form of identified object or position by probability assignments separately in addition.But, distribute to the probability of object and the conforming correlativity between relative velocity and the reference velocity of object correlation and can realize simple especially analyzing and processing.
In addition, another kind of embodiment setting, determines reference velocity according to the speed of asking for by reference sensor of vehicle.At this, in order to determine reference velocity, reference sensor utilizes optical beams reflection, the sound wave auxiliary navigation of reflection, wheel revolutions and/or satellite on the ground on the ground.In the time assessing the object detecting, provide current especially reference value by the use of the additional sensor for determining reference velocity.In addition, can reduce for asking for the required computing power of reference value, because conventionally not necessarily use at this analyzing and processing algorithm expending.
Another kind of embodiment setting, determines the travel speed of vehicle according to the measured relative velocity of object, described object is positioned at front and/or the rear of vehicle in travel direction.The use that is positioned at the object in the front of vehicle in travel direction allows the sensor that existed or sensing system, the especially utilization of vehicle assisted system, therefore reduces to measure the device structure of arranging.Also this object below allowing to detect for the measurement on the object of rear view of vehicle: described in the time of positive planar survey, object does not provide enough sensor signals, the object for example blocking or owing to snowing or sand does not have enough discernible objects.The improvement of the degree of accuracy when in contrast, detection in the front of vehicle and the object at rear being provided the applicable measurement of larger quantity and therefore definite car speed is also provided substantially.
Brief description of the drawings
Below further describe with reference to the accompanying drawings the present invention.Accompanying drawing illustrates:
Fig. 1 schematically shows a kind of travel conditions, wherein, is equipped with according to the rail vehicle travelling of measuring equipment of the present invention and detects the multiple static object that is arranged on its front;
Fig. 2 schematically shows another kind of travel conditions, wherein, is equipped with the object that detects two static objects and a motion according to the rail vehicle travelling of measuring equipment of the present invention;
Fig. 3 schematically shows a kind of travel conditions, wherein, in order to determine the absolute velocity of vehicle, detects in the sensing the object that is arranged on vehicle front and the object that is arranged on rear view of vehicle;
Fig. 4 schematically show absolute velocity for determine vehicle according to the relative velocity of the object of the surrounding environment of vehicle according to measuring equipment of the present invention.
Embodiment
According in the solution of the present invention, in order to determine the travel speed of vehicle, by the relative velocity of the object in the surrounding environment of one or more sensor measurement vehicles.Then, by reasonalbeness check in vehicle by with detected object, especially determine self speed with the relative velocity of static object.
Substantially all applicable optically, acoustics ground or the electromagnetic ground measurement mechanism, sensor device and the sniffer that detect the surrounding environment of vehicle be suitable as the sensor in meaning of the present invention.To this, especially can use following measuring method: can in a step, realize the detection of object and the measurement of the relative velocity of the object detecting by described measuring method.Alternatively also possible that, detect object and measure its relative velocity with diverse ways.Therefore, in the first situation, for example can be by not only position but also its relative velocity with respect to vehicle of object of radargrammetry.What be suitable for this has for example through warbled radar, as fmcw radar (through warbled continuous wave).At this, the modulation of radar signal allows: pass through the absolute range observation that launched signal carries out travel-time measurement with the temporal correlativity of signal that reflected by object and that receive in equipment and therefore allows object correlation.In order to determine the accurate position of object in world coordinate system, conventionally except the spacing radially of measurement object and vehicle, also measure the directional information (position angle) of object correlation with respect to travel direction.In the radar system scanning, automatically obtain Space Angle by the current orientation of receiving antenna.In contrast, in the radar system with static (Statisch) antenna, directional information is asked in the distribution of the intensity by the signal that received by different antennae.
Different from modulated radar signal, in the situation that utilizing Doppler effect, except speed radially, be not easy to measure the position of object by the radar signal of non-modulated.In described so-called radar Doppler, base when lacking in radar signal, can not realize in principle for the required distance measurement in exact position of determining object.
Except measure the distance or position and speed of object with respect to vehicle by a unique modulated radar simultaneously, also possibly, carry out position measurement and velocity survey by multiple sensor devices or measurement mechanism.For example, can relatively simply ask for the relative position of object by optical measuring device, described optical measuring device comprises two or more video camera.Unlike this, can be by another kind of measurement mechanism---the doppler measuring apparatus of for example radar Doppler or acoustics is measured the relative velocity of the object detecting.
But, also can detect the change in location in time of object and therefore detect its relative velocity by the optical measuring device of three-dimensional work.
Therefore, can substantially realize object determining with respect to the relative velocity of vehicle by different modes according to measuring method.Measuring in the absolute position of object or the measuring method of relative position, can ask for according to change in location the relative velocity of object correlation, object correlation changes with respect to vehicle 100 completing place within the predetermined time.In contrast, measuring in the measuring method of object correlation with respect to the radial velocity of vehicle, convert and calculate the relative velocity of object by the geometry by measured space angle of measured radial velocity.
Set forth according to the solution of the present invention by typical travel conditions below, wherein, simultaneously or one after the other detect in short-term the object that is positioned at the object of vehicle front or occurs at vehicle front in travel direction during travelling.To this, Fig. 1 illustrates the vehicle 100 being equipped with according to the measuring equipment 200 for definite travel speed of the present invention, and described vehicle is configured to the rail vehicle travelling along track 410 in this example.At this, as illustrated by thick arrow 101, vehicle 100 moves from left to right.In travel direction, at vehicle front, three different objects 310,320,330 are set.At this, relate to static object, wherein, the object that its geographic position that each can be applicable to does not change within for the important time period of measurement is thought of as static object.Belong to this for example trees, traffic signal device (Signalzeichen), electric tower (Strommasten), building, other buildings or the vehicle of parking of having.
In order to measure the relative velocity of object 310,320,330, vehicle 100 is equipped with according to measuring equipment 200 of the present invention, and described vehicle comprises the sensor layout 201 in the front region that is arranged on vehicle 100 at this.At this, sensor arranges that 201 are configured to detect the object occurring in vehicle 100 fronts and measure its speed with respect to vehicle 100.To this, sensor arranges that 201 have at least one sensor 210, and the measurement cone of described sensor detects the object in vehicle 100 fronts.
As shown in Figure 1, measure cone by least one that is arranged on that sensor in the previous section of vehicle 100 arranges 201 measurement mechanism or sensor device 210 respectively and detect the object 310,320,330 occurring at vehicle front.Each in the detection cone 211,212,213,214,215,216 exemplarily illustrating at this corresponding to measured zone spatially or the surveyed area of the sensor device 210 of related sensor layout 201 lobe shape.According to application, sensor arranges that 201 can comprise multiple sensor devices, and the detection cone of described multiple sensor devices is with different angle settings or can in orientation, detect swingably multiple objects simultaneously.For this alternatively, also possible that, monitor the region in vehicle 100 fronts by the sensor device scanning, wherein, predetermined Space Angle is periodically sampled by measurement cone or the detection cone of the sensor device scanning.In described situation, detect successively each object 310,320,330.The radar or the laser scanner that for example scan are suitable for this.
As illustrated in the detection cone 216 by wide, also can use in addition measurement mechanism or the sensor device of whole the considered area of space that simultaneously detects vehicle front.This for example can realize by one or more video cameras.The radar system of rigidity (Starr) or the acoustic Doppler surveying instrument with correspondingly wide search angle are also suitable for this substantially.
Fig. 2 illustrates the another kind of travel conditions of the vehicle 100 assembling by measuring equipment 200 according to the present invention.At this, except two static objects 310,320, the sensor above arranges that one or more sensors 210 of 201 also detect astatic object 360.Astatic object 360 relates to the second rail vehicle that head-on drives towards vehicle 100 in adjacent track distance 420.The displacement that the second rail vehicle 360 is described by thick arrow 362 at this, wherein, the orientation of arrow 362 and length are corresponding to direction and the speed of associated vehicle 360.Be similar to Fig. 1, by thin arrow 311,331,361 two static objects 310,330 are shown respectively with astatic object 360 arrange 201 relative velocities of asking for by sensor.The relative velocity 311,331 of two static objects 310,330 is substantially corresponding to the current travel speed 101 of vehicle 100, and for the second rail vehicle 360 because himself motion 361 records obviously higher relative velocity.Therefore, due to its high relative velocity, rail vehicle 360 is evaluated as astatic motion in other words by the control and analysis treating apparatus of measuring equipment 200 and therefore unaccommodated object.Therefore, this relevant relative velocity is not considered to determining for the travel speed of vehicle 100.In contrast, two static objects 310,330 are because its relative velocity is assessed as static.Therefore, control and analysis treating apparatus is determined the current travel speed of vehicle 100 with the measured relative velocity of two static objects 310,330.
Preferably be evaluated as static object or be evaluated as the astatic object of motion in other words by the measured relative velocity of object and applicable relatively realizing of reference value.At this, the value of finally asking for of for example travel speed of vehicle 100 is suitable as reference value.Particularly advantageously, the time period from last definite travel speed is so short, makes only may occur since then the relatively little variation based on accelerator or braking procedure of travel speed.If enough objects while or available for measuring successively in short-term, also just can be by the mean value of the measured relative velocity of respective objects as reference value.Alternatively or support ground, also can ask for reference value by the additive method that is suitable for velocity survey, wherein, can be by each applicable rate signal for example, with sufficient accuracy (10%) with for referencial use.Therefore for example likely, ask for reference velocity by the sensor of measuring wheel revolutions.Utilize the sensor of travel speed that applicable reference velocity also can be provided by reflection on the ground.Finally can realize, the sensor device (for example GPS) of supporting by satellite obtains reference velocity.
In the vehicle illustrating in Fig. 1 and 2, only utilize the object that lays respectively at vehicle front to measure the travel speed of self.But also can realize, determine self travel speed by the object that is positioned at rear view of vehicle.To this, Fig. 3 illustrates rail vehicle 100, and described rail vehicle also comprises rearward directed sensor layout 202 except the sensor layout 201 being included in above.At this, be arranged on the sensor below in the tail region of vehicle 100 and arrange that 202 comprise that at least one is rearward directed for measuring the sensor device 230 of relative velocity of the object that is positioned at rear view of vehicle in travel direction.Illustrate two static objects 340,350 at the rear of vehicle 100.Arranged that by the sensor below at least one sensor device 230 of 202 detects the object 340,350 that is arranged on two rears in distance 410 of travelling, as illustrated in the detection cone 231,232 by being shown in dotted line.At this, the control and analysis treating apparatus of measuring the relative velocity 341,351 of object correlation 340,350 and measurement result being offered to measuring equipment 200 is to determine self speed of vehicle 100.
Fig. 4 illustrates according to measuring equipment 200 of the present invention.At this, measuring equipment 200 according to the present invention is included in sensor above and arranges 201, and it has at least one for detection of object and for measuring the sensor device of relative velocity of detected object.In this situation, the sensor above arranges that 201 comprise two sensor devices 210,220, for example a video camera and a radar equipment altogether.Arrange 201 selectively or alternatively for first sensor, measuring equipment 200 also comprises that the second sensor arranges, it has the sensor device 230,240 of one or more objects for detection of rear view of vehicle equally.Two sensors arrange that 201,202 sensor device 210,220,230,240 is preferably connected with common control and analysis treating apparatus 280, the information of described each sensor device 210,220,230,240 of control and analysis treating apparatus analyzing and processing and asked for the current travel speed of vehicle by described information.At this, for example relate to calculation element, described calculation element carries out the analyzing and processing of measurement result by applicable algorithm.In analyzing and processing, measured relative velocity and reference value can be compared.At this, can only determine current travel speed with following those relative velocities: described relative velocity and reference value depart from and be not more than predetermined value.In addition, can according to its relative velocity give each object distribute separately relate to the probability of static object at this.At this, for definite current travel speed only considers that those have the relative velocity of the object of maximum probability.To this alternatively, can ask for current travel speed by the mean value of multiple measured relative velocities.
Measuring equipment 200 also comprises additional measurement mechanism or sensor device, and they are for confirmatory measurement result or for reference value is provided.In Fig. 4, illustrate sensor device 250, the wheel revolutions measuring instrument 260 of satellite support and utilize the doppler velocity measuring equipment 270 of beam reflection on the ground.
Can realize the high availability of rate signal according to the solution of the present invention.At this, the structure flexibly of measuring equipment allows the simple installation in vehicle.Therefore, for example can realize sensor device is placed in to shielded especially installed position.
Although explained and described details of the present invention by preferred embodiment, the invention is not restricted to disclosed example.But can therefrom derive other flexible programs by those skilled in the art, and do not depart from protection scope of the present invention.Except measuring method as mentioned herein, substantially can also use other suitable measuring methods for measuring relative velocity static object and astatic object.Any significant combination of different measuring method is applicable to substantially for this reason.
Claims (12)
1. for determining the method for speed (101) for vehicle (100),
Wherein, detect at least one and be arranged in the object (310,320 of the surrounding environment of described vehicle (100), 330,340,350,360) and measure the object (310 that detects, 320,330,340,350,360) with respect to the relative velocity of described vehicle (100), and
Wherein, determine the speed (101) of described vehicle (100) according to the relative velocity of described object (310,320,330,340,350,360) (311,321,331,341,351,362).
2. method according to claim 1,
Wherein, the object (310,320,330,340,350,360) that assessment detects relates to static object and also relates to the object moving,
Wherein, only when described object correlation (310,320,330,340,350,360) be assessed as when static, just by detected object (310,320,330,340,350,360) relative velocity (311,321,331,341,351,362) for determining the speed (101) of described vehicle (100).
3. according to the method described in any one in claim 1 or 2,
Wherein, the relative velocity of detected object (310,320,330,340,350,360) (311,321,331,341,351,362) and reference velocity are compared,
Wherein, only when relevant relative velocity is during substantially corresponding to described reference velocity, just by described relevant relative velocity (311,321,331,341,351,362) determining for the speed (101) of described vehicle (100).
4. method according to claim 3, wherein, repeatedly determine the speed (101) of described vehicle (100), wherein, respectively the value of finally asking for of the speed of described vehicle (100) (101) is used as to reference velocity.
5. according to the method described in claim 3 or 4,
Wherein, simultaneously or measure successively the relative velocity (311,321,331,341,351,362) of the multiple objects (310,320,330,340,350,360) that detect in the surrounding environment of described vehicle (100),
Wherein, the mean value forming according to the relative velocity of the object by detected (310,320,330,340,350,360) (311,321,331,341,351,362) is asked for described reference velocity.
6. according to the method described in any one in claim 3 to 5,
Wherein, measure the relative velocity (311,321,331,341,351,362) of the multiple objects (310,320,330,340,350,360) that detect in the surrounding environment of described vehicle (100),
Wherein, for each in detected object (310,320,330,340,350,360) ask for separately whether relate to the probability of static object at this, and
Wherein, in the time determining the speed (101) of described vehicle (100), only consider that those have the object of maximum probability (310,320,330,340,350,360).
7. method according to claim 6,
Wherein, for described object (310,320,330,340,350,360) relative velocity (311,321,331 of asking for, 341,351,362) consistance and between described reference velocity is larger, give described object (310,320,330,340,350,360) distribute and higher relate to the probability of static object at this.
8. according to the method described in any one of the preceding claims,
Wherein, determine described reference velocity according to the speed of asking for by reference sensor (250,260,270) of described vehicle (100),
Wherein, described reference sensor (250,260,270) utilizes optical beams reflection, sound wave reflection, wheel revolutions and/or satellite navigation on the ground on the ground to determine described reference velocity.
9. according to the method described in any one of the preceding claims,
Wherein, according to object (310,320,330,340,350,360) measured relative velocity (311,321,331,341,351,362) determine the speed (101) of described vehicle (100), described object is positioned at front and/or the rear of described vehicle (100) in travel direction.
10. according to the method described in any one of the preceding claims,
Wherein, in order to detect the object (310,320,330,340,350,360) in the surrounding environment of described vehicle (100), realize by measuring method optics, acoustics and/or that radar is supported.
11. according to the method described in any one of the preceding claims,
Wherein, realize the measurement of the relative velocity (311,321,331,341,351,362) of the object (310,320,330,340,350,360) detecting by the measuring method based on Doppler effect.
12. 1 kinds of equipment for the speed (101) of definite vehicle (100), described equipment comprises:
For detection of the first sensor device (210,230) of the object in the surrounding environment of described vehicle (100) (310,320,330,340,350,360),
For measuring detected object (310,320,330,340,350,360) with respect to the described relative velocity (311,321,331,341 of described vehicle (100), 351,362) the second sensor device (220,240), and
Be used for according to described object (310,320,330,340,350,360) measured relative velocity (311,321,331,341,351,362) determine the APU (280) of the speed (101) of described vehicle (100)
Wherein, described APU (280) is configured to according to affiliated relative velocity (311,321,331,341,351,362) by detected object (310,320,330,340,350,360) be evaluated as static and only according to being evaluated as static object (310,320,330,340,350) relative velocity is determined the speed (101) of described vehicle (100).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012200139.5 | 2012-01-05 | ||
| DE102012200139A DE102012200139A1 (en) | 2012-01-05 | 2012-01-05 | Method and device for wheel-independent speed measurement in a vehicle |
| PCT/EP2012/071920 WO2013102507A1 (en) | 2012-01-05 | 2012-11-06 | Method and device for measuring the speed of a vehicle independently of the wheels |
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| CN104040369A true CN104040369A (en) | 2014-09-10 |
| CN104040369B CN104040369B (en) | 2017-07-11 |
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| US (1) | US9610961B2 (en) |
| EP (1) | EP2800982B1 (en) |
| JP (1) | JP2015506474A (en) |
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| DE (1) | DE102012200139A1 (en) |
| WO (1) | WO2013102507A1 (en) |
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| CN112050830A (en) * | 2019-06-06 | 2020-12-08 | 华为技术有限公司 | Motion state estimation method and device |
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| CN113911173A (en) * | 2021-10-26 | 2022-01-11 | 北京埃福瑞科技有限公司 | Rail train speed measuring method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2015506474A (en) | 2015-03-02 |
| DE102012200139A1 (en) | 2013-07-11 |
| EP2800982B1 (en) | 2017-04-05 |
| WO2013102507A1 (en) | 2013-07-11 |
| EP2800982A1 (en) | 2014-11-12 |
| CN104040369B (en) | 2017-07-11 |
| US9610961B2 (en) | 2017-04-04 |
| US20150005993A1 (en) | 2015-01-01 |
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